File content as of revision 48:5a270ba60008:

#include "mbed.h"
#include "HIDScope.h"
#include "MODSERIAL.h"
#include "arm_math.h"

HIDScope::HIDScope(int channels) : hid(64,64)
{
    bufferData      = new float[channels]();
    channelCount    = channels;
    scopeData.length = 64;
}

void HIDScope::set(int ch, float val)
{
    bufferData[ch] = val;
}

void HIDScope::set(int ch, int val)
{
    set(ch,(float)val);
}

void HIDScope::set(int ch, bool val)
{
    set(ch,(val ? 1.0f : 0.0f));
}

void HIDScope::set(int ch, double val)
{
    set(ch,(float)val);
}

void HIDScope::send()
{
    for(int ch=0; ch<channelCount; ch++)
        memcpy(&scopeData.data[ch*4], &bufferData[ch], 4); // Copy a 4 byte float to the char array

    // Send non blocking, can be adjusted to blocking (hid.send)
    hid.sendNB(&scopeData);
}

// ****** emg filter shizzle ******

//Define objects
AnalogIn    emgB(PTB0); //Analog input bicep
AnalogIn    emgT(PTB1); //Analog input tricep

float filtered_emgB;
float filtered_emgT;

MODSERIAL pc(USBTX,USBRX);

HIDScope scope(4);//uitgang scherm

arm_biquad_casd_df1_inst_f32 lowpass;
//constants for 50Hz lowpass
float lowpass_const[] = {0.2928920553, 0.5857841107, 0.2928920554, -0, -0.17156822136};//{a0 a1 a2 -b1 -b2} van online calculator
//state values
float lowpass_states[4];

arm_biquad_casd_df1_inst_f32 highpass;
//constants for 10Hz highpass
float highpass_const[] = {0.8005910267, -1.6011820533, 0.8005910267, 1.5610153913, -0.6413487154};//{a0 a1 a2 -b1 -b2}
//state values
float highpass_states[4];


/** Looper function
* functions used for Ticker and Timeout should be of type void <name>(void)
* i.e. no input arguments, no output arguments.
* if you want to change a variable that you use in other places (for example in main)
* you will have to make that variable global in order to be able to reach it both from
* the function called at interrupt time, and in the main function.
* To make a variable global, define it under the includes.
* variables that are changed in the interrupt routine (written to) should be made
* 'volatile' to let the compiler know that those values may change outside the current context.
* i.e.: "volatile uint16_t emg_value;" instead of "uint16_t emg_value"
* in the example below, the variable is not re-used in the main function, and is thus declared
* local in the looper function only.
**/

//BICEP EMG LEZEN
void looperB()
{
    /*variable to store value in*/
    uint16_t emg_valueB;

    float emg_value_f32B;
    /*put raw emg value both in red and in emg_value*/
    emg_valueB = emgB.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V)
    emg_value_f32B = emgB.read();

    //process emg
    arm_biquad_cascade_df1_f32(&highpass, &emg_value_f32B, &filtered_emgB, 1 );
    filtered_emgB = fabs(filtered_emgB);
    arm_biquad_cascade_df1_f32(&lowpass, &filtered_emgB, &filtered_emgB, 1 );

    /*send value to PC. */
    scope.set(0,emg_valueB);     //uint value
    scope.set(1,filtered_emgB);  //processed float
    scope.send();

    // Moving Average Filter Biceps

    float B0, B1, B2, B3, B4, B5, B6, B7, B8, B9, MOVAVG_B;
    {
        B0=filtered_emgB;
        MOVAVG_B=B0*0.1+B1*0.1+B2*0.1+B3*0.1+B4*0.1+B5*0.1+B6*0.1+B7*0.1+B8*0.1+B9*0.1;
        B9=B8;
        B8=B7;
        B7=B6;
        B6=B5;
        B5=B4;
        B4=B3;
        B3=B2;
        B2=B1;
        B1=B0;

    }
}


// Triceps EMG lezen
void looperT()
{
    /*variable to store value in*/
    uint16_t emg_valueT;

    float emg_value_f32T;
    /*put raw emg value both in red and in emg_value*/
    emg_valueT = emgT.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V)
    emg_value_f32T = emgT.read();

    //process emg
    arm_biquad_cascade_df1_f32(&highpass, &emg_value_f32T, &filtered_emgT, 1 );
    filtered_emgT = fabs(filtered_emgT);
    arm_biquad_cascade_df1_f32(&lowpass, &filtered_emgT, &filtered_emgT, 1 );

    /*send value to PC. */
    scope.set(2,emg_valueT);     //uint value
    scope.set(3,filtered_emgT);  //processed float
    scope.send();

    // Moving Average Filter Triceps

    float T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, MOVAVG_T;

    T0=filtered_emgT;
    MOVAVG_T=T0*0.1+T1*0.1+T2*0.1+T3*0.1+T4*0.1+T5*0.1+T6*0.1+T7*0.1+T8*0.1+T9*0.1;

    T9=T8;
    T8=T7;
    T7=T6;
    T6=T5;
    T5=T4;
    T4=T3;
    T3=T2;
    T2=T1;
    T1=T0;

}
}

int main()
{
    Ticker log_timer;
    //set up filters. Use external array for constants
    arm_biquad_cascade_df1_init_f32(&lowpass,1 , lowpass_const, lowpass_states);
    arm_biquad_cascade_df1_init_f32(&highpass,1 ,highpass_const, highpass_states);

    /**Here you attach the 'void looper(void)' function to the Ticker object
    * The looper() function will be called every 0.01 seconds.
    * Please mind that the parentheses after looper are omitted when using attach.
    */
    log_timer.attach(looperB, 0.005);//??
    log_timer.attach(looperT, 0.005);//??
    while(1) { //Loop
        /*Empty!*/
        /*Everything is handled by the interrupt routine now!*/
    }
}

//filtered_emgB
//filtered_emgT

void Antwoord()
{
    float drempelwaardeT=4.99;
    int y;

    if (MOVAVG_T > drempelwaardeT) {
        y=1;
    } else {
        y=0;
    }

    if (y==1) {
        pc.printf("Motor 2 beweegt\n");
    } else {
        pc.printf("Motor 2 beweegt niet\n");
    }

    void Antwoord() {
        float drempelwaardeB1=4.99;
        float drempelwaardeB2=6;
        float drempelwaardeB3=10;
        int yB1;
        int yB2;
        int yB3;

        if (MOVAVG_B > drempelwaarde1) {
            yB1=1;
            if MOVAVG_B > drempelwaarde2 {
            yB2=1;
            if MOVAVG_B > drempeldwaarde3{
                yB3=1;
            } else {
                yB3=0
            }
        } else {
            yB2=0
        }
        else {
            yB1=0;
        }
        int snelheidsstand;
        int yB1, yB2, yB3;
        snelheidsstand=yB1+yB2+yB3;
        if (snelheidsstand==1) {
                pc.printf("Motor 1 beweegt met snelheid 1\n");
            } else {
                pc.printf("Motor 1 beweegt niet met snelheid 1\n"); }
            if (snelheidsstand==2) {
                pc.printf("Motor 1 beweegt met snelheid 2\n");
            } else {
                pc.printf("Motor 1 beweegt niet met snelheid 2\n");
            }
            if (snelheidsstand==3) {
                pc.printf("Motor 1 beweegt met snelheid 3\n");
            } else {
                pc.printf("Motor 1 beweegt niet met snelheid 3\n");
            }
        }